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Inverse kinematic problem: Solutions by pseudoinversion, inversion and no-inversion
Published online by Cambridge University Press: 04 February 2010
Abstract
Kinematic properties of reaching movements reflect constraints imposed on the joint angles. Contemporary models present solutions to the redundancy problem by a pseudoinverse procedure (Whitney 1969) or without any inversion (Berkenblit et al. 1986). Feldman & Levin suggest a procedure based on a regular inversion. These procedures are considered as an outcome of a more general approach.
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References
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